{"id":16552276,"url":"https://github.com/cggos/rgbdslam_cg","last_synced_at":"2026-03-18T20:25:49.154Z","repository":{"id":108875646,"uuid":"259063577","full_name":"cggos/rgbdslam_cg","owner":"cggos","description":"根据高翔博客《一起做RGB-D SLAM》，从零搭建 RGBD-SLAM","archived":false,"fork":false,"pushed_at":"2020-04-26T15:47:08.000Z","size":1331,"stargazers_count":1,"open_issues_count":1,"forks_count":3,"subscribers_count":3,"default_branch":"master","last_synced_at":"2025-01-15T00:34:17.286Z","etag":null,"topics":["rgbdslam","vslam"],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/cggos.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-04-26T15:22:41.000Z","updated_at":"2020-10-20T05:57:26.000Z","dependencies_parsed_at":"2023-03-19T01:03:20.134Z","dependency_job_id":null,"html_url":"https://github.com/cggos/rgbdslam_cg","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Frgbdslam_cg","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Frgbdslam_cg/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Frgbdslam_cg/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Frgbdslam_cg/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/cggos","download_url":"https://codeload.github.com/cggos/rgbdslam_cg/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241885802,"owners_count":20036956,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["rgbdslam","vslam"],"created_at":"2024-10-11T19:44:23.902Z","updated_at":"2025-10-25T11:39:57.376Z","avatar_url":"https://github.com/cggos.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rgbdslam_cg\n\n根据高翔博客 [一起做RGB-D SLAM](https://www.cnblogs.com/gaoxiang12/tag/%E4%B8%80%E8%B5%B7%E5%81%9ARGB-D%20SLAM/)（其代码在 [gaoxiang12/rgbd-slam-tutorial-gx](https://github.com/gaoxiang12/rgbd-slam-tutorial-gx)），从零搭建 RGBD-SLAM。\n\n-----\n\n# Dependencies\n\n* Eigen3\n* OpenCV3\n* PCL 1.7\n* G2O (the lastest version)\n\n# Build\n\n```sh\nmkdir build \u0026 cd build\ncmake ..\nmake -j2\n```\n\n# Run\n\n```sh\ncd build\n\n../bin/generate_pointcloud\n\n../bin/detect_features\n\n../bin/join_pointcloud\n\n../bin/visual_odometry\n\n../bin/rgbdslam\n```\n\n# Result\n\n* result of `bin/visual_odometry`\n  \u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"images/run_rgbdslam.jpg\"/\u003e\n  \u003c/div\u003e\n\n* `g2o_viewer result_after.g2o`, the result of `bin/rgbdslam`\n  \u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"images/g2oviewer_rgbdslam.jpg\"/\u003e\n  \u003c/div\u003e","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcggos%2Frgbdslam_cg","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcggos%2Frgbdslam_cg","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcggos%2Frgbdslam_cg/lists"}